In the AUTOtech.agil project, various use cases for automated driving at low speeds (e.g. automated valet parking, traffic-calmed areas) are to be realized by means of the architecture of a cross-application driving function (“low-speed function”). The low-speed function is to be applied to the autoELF prototype vehicle. To this end, a dedicated close-range sensor system consisting of lidar and camera sensors has already been attached to the vehicle. In a next step, it is now necessary within the scope of this MaTh to develop a perception algorithm for the detection of relevant objects for the use cases of the low-speed function. The perception algorithm is then to be applied to the autoELF prototype vehicle in a ROS2 framework.